中图分类法:	TP7 版次：
中图分类法:	TP242 版次：
著者:	Zhai, Di-Hua,
题名:	High-performance adaptive control of teleoperation systems / / ,
版次:	First edition.
出版发行:	出版地： Boca Raton : 出版社： CRC Press, Taylor & Francis Group : 出版日期： 2023.
载体形态:	xv, 297 pages : illustrations ; 27 cm
内容提要:	"Within a unified switched-control framework, this book investigates the high-performance control designs and theoretic analyses for teleoperation systems, including the joint space and task space teleoperation, the homogeneous and heterogeneous teleoperation, and the single-master single-slave and multi-master multi-slave teleoperation. The book begins with an introduction to the concepts and challenges of networked teleoperation systems. Then, it investigates a new adaptive control framework based on auxiliary switched filters for the bilateral teleoperation systems to handle the model uncertainty and non-passive external forces. To overcome the input constraints of robotic systems, this adaptive method is also extended to the anti-windup adaptive control case. Furthermore, to apply to multi-robot remote collaboration scenarios and heterogeneous teleoperation, two tele-coordination methods and an adaptive semi-autonomous control method are respectively developed. Finally, the authors examine two finite-time control schemes and two types of improved prescribed performance control for teleoperation systems to improve the transient-state and steady-state synchronization performances. This title will be an essential reference for researchers and engineers interested in teleoperation, robotic systems, and nonlinear control systems. It would also prove useful for graduate students in the fields of science, engineering, and computer science"--
主题词:	Adaptive control systems.
主题词:	Remote control.
主题词:	Robotics.
主要责任者:	Xia, Yuanqing, Xia, Yuanqing,